modelec/modelec-marcel-ROS
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launch file ROS2

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acki
2025-11-12 18:33:29 +01:00
parent 3d7bfca61e
commit b35c445214
1 changed files with 3 additions and 3 deletions
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6
src/modelec_core/launch/modelec.launch.py
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@@ -41,15 +41,15 @@ def generate_launch_description():
output='screen'
)
# Register a restart handler that re-creates both node + handler
# Instead of recursion at definition time, we delay the re-creation using a lambda
restart_handler = RegisterEventHandler(
OnProcessExit(
target_action=lidar_node,
on_exit=[
LogInfo(msg="[Launch] RPLIDAR crashed — restarting in 2s..."),
LogInfo(msg='[Launch] RPLIDAR crashed — restarting in 2s...'),
TimerAction(
period=2.0,
actions=create_lidar_with_restart() # recursive: spawns new node + handler
actions=[OpaqueFunction(function=lambda *_: create_lidar_with_restart())]
)
]
)